Real-time Semantic 3D Reconstruction for High- Touch Surface Recognition for Robotic Disinfection.

Ri-Zhao Qiu,Yixiao Sun,Joao Marcos Correia Marques,Kris Hauser

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2022）

Cited 12|Views22

Abstract

Disinfection robots have applications in promoting public health and reducing hospital acquired infections and have drawn considerable interest due to the COVID-19 pan-demic. To disinfect a room quickly, motion planning can be used to plan robot disinfection trajectories on a reconstructed 3D map of the room's surfaces. However, existing approaches discard semantic information of the room and, thus, take a long time to perform thorough disinfection. Human cleaners, on the other hand, disinfect rooms more efficiently by prioritizing the cleaning of high-touch surfaces. To address this gap, we present a novel GPU-based volumetric semantic TSDF (Truncated Signed Distance Function) integration system for semantic 3D reconstruction. Our system produces 3D reconstructions that distinguish high-touch surfaces from non-high-touch surfaces at approximately 50 frames per second on a consumer-grade GPU, which is approximately 5 times faster than existing CPU-based TSDF semantic reconstruction methods. In addition, we extend a UV disinfection motion planning algorithm to incorporate semantic awareness for optimizing coverage of disinfection tra-jectories. Experiments show that our semantic-aware planning outperforms geometry-only planning by disinfecting up to 20% more high-touch surfaces under the same time budget. Further, the real-time nature of our semantic reconstruction pipeline enables future work on simultaneous disinfection and mapping. Code is available at: https://github.com/uiuc-iml/RA-SLAM

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Key words

COVID-19 pandemic,CPU-based TSDF semantic reconstruction methods,disinfection robots,disinfection trajectories,GPU-based volumetric semantic TSDF integration system,high- touch surface recognition,motion planning,public health,reconstructed 3D map,robot disinfection trajectories,robotic disinfection,semantic 3D reconstruction,semantic awareness,semantic information,semantic reconstruction pipeline,semantic-aware planning,simultaneous disinfection,truncated signed distance function,UV disinfection motion

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